Development Of Equipment Micro Motion Information Acquisition And Processing System Based On MPU9250

Mechanical equipment usually uses vibration signals as the basis for fault diagnosis.Vibration is a form of motion with reciprocating characteristics.Usually,the acceleration sensor can only obtain the linear motion information at the measuring point,and the rotation information cannot be obtained.In view of the fact that the micro-sensor MPU9250 can simultaneously obtain acceleration,angular velocity,and magnetometer signals,the information type is rich and perfect.In order to improve the comprehensiveness and richness of equipment information,this paper designs and develops an acquisition and processing system based on MPU9250 sensor,and calls the local motion at the measuring point as micro motion.The main research contents of the thesis include:(1)The acquisition method of micro motion information is studied.The multi-channel data fusion algorithm is used to solve the attitude information,and the integral algorithm is used to solve the motion information.(2)Based on MPU9250 sensor,the hardware system of micro motion information acquisition is designed and developed.The hardware system mainly includes arm core main circuit,data acquisition circuit,data storage circuit,transmission circuit and so on.The data transmission can be realized by SPI Bus,FSMC is stored in the way of NAND FLASH,the data is stored to SD card by Sdio,and the communication of hardware and software system is realized by USB bus or serial port.(3)Based on C Sharp,a software system for micro-motion information collection and analysis was designed and developed.The main functions that the software system has realized are:communication between the upper and lower machines through the USB to serial communication mode,modification of the parameters of the lower computer by the upper computer,data storage,real-time waveform display,data analysis and processing functions.(4)Using the developed software system to achieve micro-motion information acquisition,and verify the correctness of the micro-motion system.Mainly completed the grinding grinding experiment,bolt loosening experiment,fan motor spindle experiment and vibration experiment of robot arm.The experimental results show that the developed software system can obtain the complete trajectory information of the measured point location.The micro motion trajectory has obvious differences under different working conditions.Micro motion trajectories can be used for device fault diagnosis and condition monitoring,while using micro motion information can help reduce the complexity of device fault diagnosis.